Rev 712 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 712 | Rev 723 | ||
|---|---|---|---|
| Line 147... | Line 147... | ||
| 147 | u8 LowVoltageLandingActive = 0; |
147 | u8 LowVoltageLandingActive = 0; |
| 148 | s8 PPM_In[MAX_RC_IN] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
148 | s8 PPM_In[MAX_RC_IN] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
| 149 | s16 FromFlightCtrl_AccNick = 0,FromFlightCtrl_AccRoll = 0,FromFlightCtrl_GyroNick = 0,FromFlightCtrl_GyroRoll = 0; |
149 | s16 FromFlightCtrl_AccNick = 0,FromFlightCtrl_AccRoll = 0,FromFlightCtrl_GyroNick = 0,FromFlightCtrl_GyroRoll = 0; |
| 150 | str_HugeBlockFromFC HugeBlockFromFC; |
150 | str_HugeBlockFromFC HugeBlockFromFC; |
| 151 | str_HugeBlockToFC HugeBlockToFC; |
151 | str_HugeBlockToFC HugeBlockToFC; |
| - | 152 | u8 CamCtrlCharacter =' '; |
|
| 152 | //-------------------------------------------------------------- |
153 | //-------------------------------------------------------------- |
| 153 | void SSP0_IRQHandler(void) |
154 | void SSP0_IRQHandler(void) |
| 154 | { |
155 | { |
| 155 | static u8 rxchksum = 0; |
156 | static u8 rxchksum = 0; |
| 156 | u8 rxdata; |
157 | u8 rxdata; |
| Line 501... | Line 502... | ||
| 501 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
502 | ToFlightCtrl.Param.Byte[5] = NaviData.WaypointNumber; // number of stored waypoints |
| 502 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10; |
503 | ToFlightCtrl.Param.Int[3] = NaviData.TargetPositionDeviation.Distance / 10; |
| 503 | ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
504 | ToFlightCtrl.Param.Byte[8] = NaviData.TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
| 504 | ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex; |
505 | ToFlightCtrl.Param.Byte[9] = ToFC_MaxWpListIndex; |
| 505 | ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11 |
506 | ToFlightCtrl.Param.sInt[5] = GyroCompassCorrected / 10; // Bytes 10 & 11 |
| - | 507 | ToFlightCtrl.Param.Byte[12] = CamCtrlCharacter; |
|
| 506 | break; |
508 | break; |
| Line 507... | Line 509... | ||
| 507 | 509 | ||
| 508 | case SPI_NCCMD_GPSINFO: |
510 | case SPI_NCCMD_GPSINFO: |
| 509 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |
511 | ToFlightCtrl.Param.Byte[0] = GPSData.Flags; |